Next Article in Journal
Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot
Previous Article in Journal
Quantifying Age-Related Differences of Ankle Mechanical Properties Using a Robotic Device
Open AccessArticle

A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

by Yutaka Hiroi 1,*,† and Akinori Ito 2,†
Faculty of Robotics and Design, Osaka Institute of Technology, 1-45 Chayamachi, Kita-ku, Osaka 530-8568, Japan
School of Engineering, Tohoku University, 6-6-5 Aramaki aza Aoba, Aoba-ku, Sendai 980-8579, Japan
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Robotics 2019, 8(4), 97;
Received: 19 September 2019 / Revised: 5 November 2019 / Accepted: 6 November 2019 / Published: 18 November 2019
Many methods have been proposed for avoiding obstacles in robotic systems. However, a robotic system that moves without colliding with obstacles and people, while still being mentally safe to the persons nearby, has not yet been realized. In this paper, we describe the development of a method for a mobile robot to avoid a pedestrian approaching from the front and to pass him/her by while preserving the “public distance” of personal space. We assume a robot that moves along a prerecorded path. When the robot detects a pedestrian using a laser range finder (LRF), it calculates the trajectory to avoid the pedestrian considering their personal space, passes by the pedestrian, and returns to the original trajectory. We introduce a virtual target to control the robot moving along the path, such that it can use the same control strategy as for human-following behavior. We carry out experiments to evaluate the method along three routes, in which the robot functioned without problems. The distance between the robot and the pedestrian was 9.3 m, on average, when the robot started to use avoiding behavior, which is large enough to keep a public distance from a pedestrian. When the robot passed by the pedestrian, the minimum distance between them was 1.19 m, which was large enough for passing safely. View Full-Text
Keywords: mobile robot; pedestrian avoidance; guide robot mobile robot; pedestrian avoidance; guide robot
Show Figures

Graphical abstract

MDPI and ACS Style

Hiroi, Y.; Ito, A. A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot. Robotics 2019, 8, 97.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

Back to TopTop